Humanoid vertical jumping based on force feedback and inertial forces optimization

被引：0
|
作者：
Sakka, S [1 ]
Yokoi, K [1 ]
机构：
[1] AIST, Intelligent Syst Res Inst, CNRS, Joint Japanese French Robot Res Lab, Tsukuba, Ibaraki 3058568, Japan
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年
关键词：
humanoid robotics; jumping pattern generation; inertia optimization;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper proposes adapting human jumping dynamics to humanoid robotic structures. Data obtained from human jumping phases and decomposition together with ground reaction forces (GRF) are used as model references. Moreover, bodies inertial forces are used as task constraints while optimizing energy to determine the humanoid robot posture and improve its jumping performances.
引用
收藏
页码：3752 / 3757
页数：6
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